diff --git a/nonlinear/NonlinearConstraint.h b/nonlinear/NonlinearConstraint.h
index f84df016e..d7ea4cb9c 100644
--- a/nonlinear/NonlinearConstraint.h
+++ b/nonlinear/NonlinearConstraint.h
@@ -399,12 +399,12 @@ public:
 	typedef boost::shared_ptr<NonlinearEquality1<Config, Key, X> > shared_ptr;
 
 	NonlinearEquality1(const X& value, const Key& key1, double mu = 1000.0)
-		: Base(key1, X::dimension, mu), value_(value) {}
+		: Base(key1, X::Dim(), mu), value_(value) {}
 	virtual ~NonlinearEquality1() {}
 
 	/** g(x) with optional derivative */
 	Vector evaluateError(const X& x1, boost::optional<Matrix&> H1 = boost::none) const {
-		const size_t p = X::dimension;
+		const size_t p = X::Dim();
 		if (H1) *H1 = eye(p);
 		return logmap(value_, x1);
 	}
@@ -425,14 +425,14 @@ public:
 	typedef boost::shared_ptr<NonlinearEquality2<Config, Key, X> > shared_ptr;
 
 	NonlinearEquality2(const Key& key1, const Key& key2, double mu = 1000.0)
-		: Base(key1, key2, X::dimension, mu) {}
+		: Base(key1, key2, X::Dim(), mu) {}
 	virtual ~NonlinearEquality2() {}
 
 	/** g(x) with optional derivative2 */
 	Vector evaluateError(const X& x1, const X& x2,
 			boost::optional<Matrix&> H1 = boost::none,
 			boost::optional<Matrix&> H2 = boost::none) const {
-		const size_t p = X::dimension;
+		const size_t p = X::Dim();
 		if (H1) *H1 = -eye(p);
 		if (H2) *H2 = eye(p);
 		return logmap(x1, x2);
diff --git a/slam/BetweenConstraint.h b/slam/BetweenConstraint.h
index 9fd9dcee1..4b02bf99a 100644
--- a/slam/BetweenConstraint.h
+++ b/slam/BetweenConstraint.h
@@ -26,7 +26,7 @@ namespace gtsam {
 		typedef boost::shared_ptr<BetweenConstraint<Config, Key, X> > shared_ptr;
 
 		BetweenConstraint(const X& measured, const Key& key1, const Key& key2, double mu = 1000.0)
-			: Base(key1, key2, X::dimension, mu), measured_(measured) {}
+			: Base(key1, key2, X::Dim(), mu), measured_(measured) {}
 
 		/** g(x) with optional derivative2 */
 		Vector evaluateError(const X& x1, const X& x2,